/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ins_task.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for RedLEDTask */
osThreadId_t RedLEDTaskHandle;
const osThreadAttr_t RedLEDTask_attributes = {
  .name = "RedLEDTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for GreenLEDTask */
osThreadId_t GreenLEDTaskHandle;
const osThreadAttr_t GreenLEDTask_attributes = {
  .name = "GreenLEDTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for tuoluoyiTask */
osThreadId_t tuoluoyiTaskHandle;
const osThreadAttr_t tuoluoyiTask_attributes = {
  .name = "tuoluoyiTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow,
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartRedTask(void *argument);
void StartGreenLEDTask(void *argument);
void StartTLYTask(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of RedLEDTask */
  RedLEDTaskHandle = osThreadNew(StartRedTask, NULL, &RedLEDTask_attributes);

  /* creation of GreenLEDTask */
  GreenLEDTaskHandle = osThreadNew(StartGreenLEDTask, NULL, &GreenLEDTask_attributes);

  /* creation of tuoluoyiTask */
  tuoluoyiTaskHandle = osThreadNew(StartTLYTask, NULL, &tuoluoyiTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartRedTask */
/**
  * @brief  Function implementing the RedLEDTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartRedTask */
void StartRedTask(void *argument)
{
  /* USER CODE BEGIN StartRedTask */
  /* Infinite loop */
  for(;;)
  {
    HAL_GPIO_TogglePin(LED_R_GPIO_Port,LED_R_Pin);
    osDelay(500);
  }
  /* USER CODE END StartRedTask */
}

/* USER CODE BEGIN Header_StartGreenLEDTask */
/**
* @brief Function implementing the GreenLEDTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartGreenLEDTask */
void StartGreenLEDTask(void *argument)
{
  /* USER CODE BEGIN StartGreenLEDTask */
  /* Infinite loop */
  for(;;)
  {
    HAL_GPIO_TogglePin(LED_G_GPIO_Port,LED_G_Pin);
    osDelay(1000);
  }
  /* USER CODE END StartGreenLEDTask */
}

/* USER CODE BEGIN Header_StartTLYTask */
/**
* @brief Function implementing the tuoluoyiTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTLYTask */
void StartTLYTask(void *argument)
{
  /* USER CODE BEGIN StartTLYTask */
  /* Infinite loop */
  for(;;)
  {
    INS_Task();
    //获取陀螺仪原始数据：
    gyro_x = INS.Gyro[X];  // X轴角速度 (rad/s)
    gyro_y = INS.Gyro[Y];  // Y轴角速度(pitch)
    gyro_z = INS.Gyro[Z];  // Z轴角速度
    // 获取处理后的姿态数据：
    yaw = INS.Yaw;         // 偏航角 (度)
    pitch = INS.Roll;     // 俯仰角 (度)
    roll = INS.Pitch;       // 横滚角 (度)//Tips:因为c板摆放不是正着放的！！
    osDelay(2);
  }
  /* USER CODE END StartTLYTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

